Physically based camera motion compensation

ABSTRACT

Implementations generally provide physically based camera motion compensation. In some implementations, a method includes detecting vibrations at an image sensor of a camera. The method further includes determining a vibration signal from the vibrations, wherein the vibration signal includes one or more of a horizontal component and a vertical component. The method further includes sending the vibration signal to one or more actuators, wherein the actuators dampen the vibrations.

BACKGROUND

Digital cameras capture and record images using digital technology,which enables users to edit photographs and easily share photographs.Digital cameras include electronic components such as an image sensor tocapture incoming light and convert the light into digital values. Animage sensor includes an array of photosensitive light collecting orgathering elements that when exposed to light generate a charge patterncorresponding to an optical image. Conventional digital cameras may useimage processing software to track the image location on a camera sensorto remove basic camera jitter and to provide a stable image. However,this jitter removal only works within a certain range of motion andfrequency of change. Vibrational frequencies higher than 18 KHz areproblematic for traditional image compensation schemes.

SUMMARY

Implementations generally provide physically based camera motioncompensation. In some implementations, a system includes one or moreprocessors, and includes logic encoded in one or more non-transitorycomputer-readable storage media for execution by the one or moreprocessors. When executed, the logic is operable to cause the one ormore processors to perform operations including: detecting vibrations atan image sensor of a camera; determining a vibration signal from thevibrations, wherein the vibration signal includes one or more of ahorizontal component and a vertical component; and sending the vibrationsignal to one or more actuators, wherein the actuators dampen thevibrations.

With further regard to the system, in some implementations, thevibration signal is within a predetermined frequency range of vibrationsensors that detect the vibrations. In some implementations, thevibrations are high-frequency vibrations having a frequency that isabove a predetermined frequency threshold. In some implementations, areaction time of vibration sensors that detect the vibrations is a knownvalue. In some implementations, the logic when executed is furtheroperable to cause the one or more processors to perform operationscomprising inverting the vibration signal. In some implementations, thelogic when executed is further operable to cause the one or moreprocessors to perform operations comprising phase shifting the vibrationsignal. In some implementations, the logic when executed is furtheroperable to cause the one or more processors to perform operationscomprising adjusting a phase angle of the vibration signal based on alag between when the vibrations were detected and when the actuators areplaced in motion.

In some embodiments, a non-transitory computer-readable storage mediumwith program instructions thereon is provided. When executed by one ormore processors, the instructions are operable to cause the one or moreprocessors to perform operations including: detecting vibrations at animage sensor of a camera; determining a vibration signal from thevibrations, wherein the vibration signal includes one or more of ahorizontal component and a vertical component; and sending the vibrationsignal to one or more actuators, wherein the actuators dampen thevibrations.

With further regard to the computer-readable storage medium, in someimplementations, the vibration signal is within a predeterminedfrequency range of vibration sensors that detect the vibrations. In someimplementations, the vibrations are high-frequency vibrations having afrequency that is above a predetermined frequency threshold. In someimplementations, a reaction time of vibration sensors that detect thevibrations is a known value. In some implementations, the instructionswhen executed are further operable to cause the one or more processorsto perform operations comprising inverting the vibration signal. In someimplementations, the instructions when executed are further operable tocause the one or more processors to perform operations comprising phaseshifting the vibration signal. In some implementations, the instructionswhen executed are further operable to cause the one or more processorsto perform operations comprising adjusting a phase angle of thevibration signal based on a lag between when the vibrations weredetected and when the actuators are placed in motion.

In some implementations, a method includes: detecting vibrations at animage sensor of a camera; determining a vibration signal from thevibrations, wherein the vibration signal includes one or more of ahorizontal component and a vertical component; and sending the vibrationsignal to one or more actuators, wherein the actuators dampen thevibrations.

With further regard to the method, in some implementations, thevibration signal is within a predetermined frequency range of vibrationsensors that detect the vibrations. In some implementations, thevibrations are high-frequency vibrations having a frequency that isabove a predetermined frequency threshold. In some implementations, areaction time of vibration sensors that detect the vibrations is a knownvalue. In some implementations, the method further includes invertingthe vibration signal. In some implementations, the method furtherincludes phase shifting the vibration signal.

A further understanding of the nature and the advantages of particularimplementations disclosed herein may be realized by reference of theremaining portions of the specification and the attached drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a front view of a camera assembly, including an imagesensor, according to some implementations.

FIG. 2 illustrates a side-view cutaway view of the camera assembly ofFIG. 1, including the image sensor mounted in a frame, and electronicsmounted on the back of the image sensor, according to someimplementations.

FIG. 3 illustrates a piezoelectric sensor actuator arrangement thatincludes an actuated counter weight, according to some implementations.

FIG. 4 illustrates an example flow diagram for providing physicallybased camera motion compensation, according to some implementations.

FIG. 5 illustrates an example flow diagram for adjusting the phase angleof a vibration signal, according to some implementations.

FIG. 6 illustrates a block diagram of an example computing system, whichmay be used for some implementations described herein.

DETAILED DESCRIPTION

Implementations described herein provide physically based camera motioncompensation. As described in more detail herein, implementations usephysical motion of actuators to compensate for high-speed vibrationsthat affect the clarity of images captured by an image sensor of acamera.

In various implementations, a camera damping system includes vibrationsensors that detect high-frequency vibrations at an image sensor of thecamera. The system determines a vibration signal from the vibrations,where the vibration signal includes a horizontal component and/or avertical component. The system then sends the vibration signal to one ormore actuators, where the actuators dampen the vibrations. The motioncompensation assists the camera in producing the best possible pictures.

FIG. 1 illustrates a front view of a camera assembly 100, including animage sensor, according to some implementations. As shown, cameraassembly 100 includes a camera support frame 102 and an image sensor 104mounted in camera support frame 102 and connected to camera supportframe 102 by tunable torsion springs 106 and 108 and piezoelectricactuators 110 and 112. In some embodiments, several more tunable torsionsprings may be positioned around image sensor 100 for additionalstability and support.

In some embodiments, counter weight actuators 114 and 116 assist withcamera stability and smooth sensor movement. Embodiments directed tooperations of piezoelectric actuators 110 and 112 and actuated counterweights 114 and 116 are described in more detail herein, for example, inconnection with FIG. 3.

In various embodiments, the speed of piezoelectric actuators 110 and 112enables them to support image compensation while a stacked structure(e.g., FIG. 3) enables the amplitude of the actuators to match the sizeof the vibrations that need to be dampened. In various scenarios,piezoelectric systems such as piezoelectric speakers can handlefrequencies well above 20 KHz. A high-speed camera shutter may run at 1KHz (one thousandth of a second), for example.

In other implementations, image sensor 100 may not have all of thecomponents shown and/or may have other elements including other types ofelements instead of, or in addition to, those shown herein.

FIG. 2 illustrates a side-view cutaway view of the camera assembly 100of FIG. 1, including the image sensor 104 mounted in a frame, andelectronics mounted on the back of the image sensor, according to someimplementations. As shown, camera support frame 102 connects to a sensorsupport module 202 through both the torsion springs such as torsionspring 108 and the piezoelectric actuators such as piezoelectricactuator 110. In various embodiments, sensor support module 202 mayinclude electronics to process values from the light collecting elementsin order to produce pixel data from image sensor 104. In otherembodiments, pixel data produced within the sensor package itself isprocessed by the camera electronics module. A connection 204 betweensensor support module 202 and the piezoelectric actuator 110 may includethe electrical connections needed to control the piezoelectric actuator110 from sensor support module 202.

In various implementations, sensor support module 202 includes one ormore vibration sensors 206 to detect vibrations of the camera and morespecifically image sensor 104. The number of vibration sensors and theirpositions may vary, depending on the particular implementation. Asdescribed in more detail herein, vibration sensors 206 control of themotion of piezoelectric actuators 110 and 112 (actuator 112 is shown inFIG. 1 but not shown in FIG. 2) based on the detected vibrations inorder to stabilize image sensor 104. As such, camera assembly 100provides a damping system that reduces or eliminates the vibrations ofimage sensor 104, thereby improving the quality of captured images.

While image sensor 104 is stabilized, camera sensor electronics 208collect the data for each individual light collecting element fromsensor support module 202. This data may be passed to other processingand storage elements within the camera via flexible cable connections212.

In other implementations, image sensor 100 may not have all of thecomponents shown and/or may have other elements including other types ofelements instead of, or in addition to, those shown herein.

FIG. 3 illustrates a piezoelectric sensor actuator arrangement 300 thatincludes an actuated counter weight, according to some implementations.An example vertical sensor actuator arrangement configuration is shown.A horizontal sensor actuator arrangement is the same, yet rotated 90degrees.

Shown is a piezoelectric actuator 110. In various embodiments, a strongadhesive or metal soldering bonds piezoelectric actuator 110 to sensorarray 104 and a slider plate 302. Slider plate 302 allows piezoelectricactuator 110 to move in response to motion from the horizontal actuator.A polished smooth surface 304 is substantially friction free and allowspiezoelectric actuator 110 to move along the camera support frame 102.In various embodiments, slider plates 306 and 308 may be composed ofmetal, ceramic or plastic. In various implementations, slider plates 306and 308 may represent either adhesive or a solder based connection ofthe piezoelectric stack to the frame and the slider plate. Slider plates306 and 308 may be rigid and sturdy connections that may be but are notlimited to adhesive, soldering, or mechanical. Cabling attachments 310and 312 connect the actuator to the control electronics of the camera.

Piezoelectric actuator 110 is composed of many layers of piezoelectricelements. As such, piezoelectric actuator 110 may also referred to as asensor actuator stack. In various embodiments, some number or all of thelayers may be activated in a set sequence or at the same time dependingon the camera mode settings.

In various embodiments, counter weight actuator 114, also referred to ascounter weight actuator stack 114, moves in the opposite direction ofpiezoelectric actuator 110. For example, when piezoelectric actuator 110is moving up, counter weight actuator 114 is moving down. Whenpiezoelectric actuator 110 is moving down, counter weight actuator 114is moving up. A counter weight actuator 314 may be of any rigid materialwhose weight is enough to counter balance the motion imparted to sensorarray 104. A strong adhesive or metal soldering 316 attaches counterweight actuator 114 to camera support frame 102 and the counter weight314. In some implementations, counter weight actuator 114 (piezoelectricstack) has very little weight (mass) itself and needs the counter weight(additional mass) to balance the motion of the sensor. Cablingattachments 318 and 320 connect counter weight actuator to the controlelectronics of the camera.

In other implementations, piezoelectric sensor actuator arrangement 300may not have all of the components shown and/or may have other elementsincluding other types of elements instead of, or in addition to, thoseshown herein.

FIG. 4 illustrates an example flow diagram for providing physicallybased camera motion compensation, according to some implementations. Invarious implementations, referring to both FIGS. 1, 2, and 4, a methodis initiated at block 402, where vibration sensors 206 of the dampingsystem detect vibrations at image sensor 104 of the camera.

At block 404, the system determines a vibration signal from thevibrations, where the vibration signal includes a horizontal componentand/or a vertical component.

In various implementations, the vibration signal is within apredetermined frequency range of vibration sensors 206 that detect thevibrations. An example frequency range may be above 18 KHz and below 100KHz. Other frequency ranges are possible and may vary, depending on theparticular implementation. In various implementations, the system mayignore lower frequencies below the frequency range, because such lowerfrequencies (e.g., bigger camera movements) are likely intentional. Thesystem may ignore vibrations below the frequency range, as suchfrequencies (e.g., 17 or 18 kilohertz, etc.) may not affect images to adegree that that is detectable to the human eye. Vibrational frequencieswithin the frequency range may represent normal vibrations that occureven while the user is attempting to hold the camera still when takingpictures.

In various implementations, the vibrations are high-frequency vibrationshaving a frequency that is above a predetermined frequency threshold. Apredetermined lower frequency threshold may be 17 or 18 kilohertz, forexample. In some implementations, sound frequencies below the thresholdare ignored.

In various implementations, the reaction time of vibration sensors 206,which that detect the vibrations, is a known value. This enables thesystem to generate a vibration signal from the vibrations. Vibrationsensors 206 detect high frequencies higher than 18 KHz. As such,vibration sensors 206 detect tiny, high-frequency vibrations coming intothe camera, filter out the lower frequency vibrations, and hold imagesensor 104 still in light of the high frequency vibrations.

As indicated above, the vibration signal includes a horizontalcomponent, a vertical component, or both horizontal and verticalcomponents, depending on the vibrations. Distinguishing between verticaland horizontal components facilitates in fine tuning the vibrationcompensation in either or both vertical and horizontal directions, whichis described in more detail below.

In some implementations, the system inverts the vibration signal. Insome implementations, the system phase shifts the vibration signal. Insome implementations, the system both inverts and phase shifts thevibration signal. For example, the system may invert and slightly phaseshift the vibration signal to account for inherent lag times. Exampleimplementations are described in more detail below.

At block 406, the system sends the vibration signal to one or more ofactuator 110 and 112, where actuator 110 and/or actuator 112 dampen thevibrations. In various embodiments, the vibration signal causesactuators 110 and 112 to move at high speed in order to support imagecompensation and positively affect image clarity. The stacked structureenables the amplitude of the actuators to match the size of thevibrations that need to be dampened. As indicated herein, the systemmoves the counter weights in the opposite direction from the actuators.

As indicated above, the system distinguishes between vertical andhorizontal components of the vibration signal. This enables precisevibration compensation in either or both vertical and horizontaldirections. As indicated above, in some implementations, the systeminverts the vibration signal and sends the inverted signal to actuators110 and 112. In various implementations, the system inverts thevibration signal or phase shifts the vibration signal by substantially180 degrees. This causes actuators 110 and 112 to replicate the originalvibrations but offset by 180 degrees, resulting in actuators 110 and 112moving in the opposite direction from vibration movement of image sensor104. The following example scenarios illustrate how the actuators reduceor eliminate the frequencies of the vibration, which in turn improve thequality of the camera images.

In an example scenario with only vertical vibrations, when image sensor104 is moving upward, the inverted signal causes actuator 110 to movedownward. Conversely, when image sensor 104 is moving downward, theinverted signal causes actuator 110 to move upward. Because there isonly a vertical component in this example, horizontal actuator 112 doesnot affect the compensation movement.

In an example scenario with only horizontal vibrations, when imagesensor 104 is moving to the left, the inverted signal causes actuator112 to move to the right. Conversely, when image sensor 104 is moving tothe right, the inverted signal causes actuator 112 to move to the left.Because there is only a horizontal component in this example, verticalactuator 110 does not affect the compensation movement.

In yet another example scenario, where the vibration signal has bothvertical and horizontal components, both vertical actuator 110 andhorizontal actuator 112 contribute to compensate for the vibrations. Forexample, when image sensor 104 is moving upward, the inverted signalcauses actuator 110 to move downward. When image sensor 104 is movingdownward, the inverted signal causes actuator 110 to move upward. In thehorizontal directions, when image sensor 104 is moving to the left, theinverted signal causes actuator 112 to move to the right. When imagesensor 104 is moving to the right, the inverted signal causes actuator112 to move to the left.

Although the steps, operations, or computations may be presented in aspecific order, the order may be changed in particular implementations.Other orderings of the steps are possible, depending on the particularimplementation. In some particular implementations, multiple steps shownas sequential in this specification may be performed at the same time.Also, some implementations may not have all of the steps shown and/ormay have other steps instead of, or in addition to, those shown herein.

FIG. 5 illustrates an example flow diagram for adjusting the phase angleof a vibration signal, according to some implementations. In thefollowing example implementations, the system may both invert andslightly phase shift the vibration signal to account for inherent lagtimes. The system adjusts the phase angle of the vibration signal basedon a lag between when the vibrations were detected and when theactuators are placed in motion. In various implementations, a method isinitiated at block 502, where the system determines the moment in timewhen the vibrations are detected.

At block 504, the system determines the moment in time when theactuators are placed in motion.

At block 506, the system determines the difference or lag between bothmoments in time, which is the lag between when the vibration is detectedand when the actuators are placed in motion.

At block 508, the system changes the phase angle of the frequency signalbased on the lag.

In various implementations, by accounting for the lag between when thevibration is detected and when the actuators are placed in motion, thesystem controls and adjusts the phase angle thereby reducing thevibration frequencies. In some implementations, if the vibration beingmeasured matches the vibration signal sent to the actuators, the systemturns off the actuators.

Embodiments described herein provide various benefits. For example,embodiments compensate for vibrations of the camera and morespecifically vibrations of the image sensor. They provide higher qualityimages captured by the image sensor. Implementations address an area ofmotion stabilization where conventional systems have difficulty handlinghigh-speed vibrations. Current methods do not address the handling ofimage stabilization for interfering frequencies above 18 KHz.

Although the steps, operations, or computations may be presented in aspecific order, the order may be changed in particular implementations.Other orderings of the steps are possible, depending on the particularimplementation. In some particular implementations, multiple steps shownas sequential in this specification may be performed at the same time.Also, some implementations may not have all of the steps shown and/ormay have other steps instead of, or in addition to, those shown herein.

FIG. 6 illustrates a block diagram of an example computing system 600,which may be used for some implementations described herein. In someimplementations, computing system 600 may include a processor 602, anoperating system 604, a memory 606, and an input/output (I/O) interface608. In various implementations, processor 602 may be used to implementvarious functions and features described herein, as well as to performthe method implementations described herein. While processor 602 isdescribed as performing implementations described herein, any suitablecomponent or combination of components of computing system 600 or anysuitable processor or processors associated with computing system 600 orany suitable system may perform the steps described. Implementationsdescribed herein may be carried out on a user device, on a server, or acombination of both.

Computing system 600 also includes a software application 610, which maybe stored on memory 606 or on any other suitable storage location orcomputer-readable medium. Software application 610 provides instructionsthat enable processor 602 to perform the implementations describedherein and other functions. Software application may also include anengine such as a network engine for performing various functionsassociated with one or more networks and network communications. Thecomponents of computing system 600 may be implemented by one or moreprocessors or any combination of hardware devices, as well as anycombination of hardware, software, firmware, etc.

For ease of illustration, FIG. 6 shows one block for each of processor602, operating system 604, memory 606, I/O interface 608, and softwareapplication 610. These blocks 602, 604, 606, 608, and 610 may representmultiple processors, operating systems, memories, I/O interfaces, andsoftware applications. In various implementations, computing system 600may not have all of the components shown and/or may have other elementsincluding other types of components instead of, or in addition to, thoseshown herein.

Although the description has been described with respect to particularembodiments thereof, these particular embodiments are merelyillustrative, and not restrictive. Concepts illustrated in the examplesmay be applied to other examples and implementations.

In various implementations, software is encoded in one or morenon-transitory computer-readable media for execution by one or moreprocessors. The software when executed by one or more processors isoperable to perform the implementations described herein and otherfunctions.

Any suitable programming language can be used to implement the routinesof particular embodiments including C, C++, Java, assembly language,etc. Different programming techniques can be employed such as proceduralor object oriented. The routines can execute on a single processingdevice or multiple processors. Although the steps, operations, orcomputations may be presented in a specific order, this order may bechanged in different particular embodiments. In some particularembodiments, multiple steps shown as sequential in this specificationcan be performed at the same time.

Particular embodiments may be implemented in a non-transitorycomputer-readable storage medium (also referred to as a machine-readablestorage medium) for use by or in connection with the instructionexecution system, apparatus, or device. Particular embodiments can beimplemented in the form of control logic in software or hardware or acombination of both. The control logic when executed by one or moreprocessors is operable to perform the implementations described hereinand other functions. For example, a tangible medium such as a hardwarestorage device can be used to store the control logic, which can includeexecutable instructions.

Particular embodiments may be implemented by using a programmablegeneral purpose digital computer, and/or by using application specificintegrated circuits, programmable logic devices, field programmable gatearrays, optical, chemical, biological, quantum or nanoengineeredsystems, components and mechanisms. In general, the functions ofparticular embodiments can be achieved by any means as is known in theart. Distributed, networked systems, components, and/or circuits can beused. Communication, or transfer, of data may be wired, wireless, or byany other means.

A “processor” may include any suitable hardware and/or software system,mechanism, or component that processes data, signals or otherinformation. A processor may include a system with a general-purposecentral processing unit, multiple processing units, dedicated circuitryfor achieving functionality, or other systems. Processing need not belimited to a geographic location, or have temporal limitations. Forexample, a processor may perform its functions in “real-time,”“offline,” in a “batch mode,” etc. Portions of processing may beperformed at different times and at different locations, by different(or the same) processing systems. A computer may be any processor incommunication with a memory. The memory may be any suitable datastorage, memory and/or non-transitory computer-readable storage medium,including electronic storage devices such as random-access memory (RAM),read-only memory (ROM), magnetic storage device (hard disk drive or thelike), flash, optical storage device (CD, DVD or the like), magnetic oroptical disk, or other tangible media suitable for storing instructions(e.g., program or software instructions) for execution by the processor.For example, a tangible medium such as a hardware storage device can beused to store the control logic, which can include executableinstructions. The instructions can also be contained in, and providedas, an electronic signal, for example in the form of software as aservice (SaaS) delivered from a server (e.g., a distributed systemand/or a cloud computing system).

It will also be appreciated that one or more of the elements depicted inthe drawings/figures can also be implemented in a more separated orintegrated manner, or even removed or rendered as inoperable in certaincases, as is useful in accordance with a particular application. It isalso within the spirit and scope to implement a program or code that canbe stored in a machine-readable medium to permit a computer to performany of the methods described above.

As used in the description herein and throughout the claims that follow,“a”, “an”, and “the” includes plural references unless the contextclearly dictates otherwise. Also, as used in the description herein andthroughout the claims that follow, the meaning of “in” includes “in” and“on” unless the context clearly dictates otherwise.

Thus, while particular embodiments have been described herein, latitudesof modification, various changes, and substitutions are intended in theforegoing disclosures, and it will be appreciated that in some instancessome features of particular embodiments will be employed without acorresponding use of other features without departing from the scope andspirit as set forth. Therefore, many modifications may be made to adapta particular situation or material to the essential scope and spirit.

1. A system comprising: one or more processors; and logic encoded in oneor more non-transitory computer-readable storage media for execution bythe one or more processors and when executed operable to cause the oneor more processors to perform operations comprising: detectingvibrations at an image sensor of a camera; determining a vibrationsignal from the vibrations, wherein the vibration signal includes one ormore of a horizontal component and a vertical component; and sending thevibration signal to one or more actuators, wherein the actuators dampenthe vibrations.
 2. The system of claim 1, wherein the vibration signalis within a predetermined frequency range of vibration sensors thatdetect the vibrations.
 3. The system of claim 1, wherein the vibrationsare high-frequency vibrations having a frequency that is above apredetermined frequency threshold.
 4. The system of claim 1, wherein areaction time of vibration sensors that detect the vibrations is a knownvalue.
 5. The system of claim 1, wherein the logic when executed isfurther operable to cause the one or more processors to performoperations comprising inverting the vibration signal.
 6. The system ofclaim 1, wherein the logic when executed is further operable to causethe one or more processors to perform operations comprising phaseshifting the vibration signal.
 7. The system of claim 1, wherein thelogic when executed is further operable to cause the one or moreprocessors to perform operations comprising adjusting a phase angle ofthe vibration signal based on a lag between when the vibrations weredetected and when the actuators are placed in motion.
 8. Anon-transitory computer-readable storage medium with programinstructions stored thereon, the program instructions when executed byone or more processors are operable to cause the one or more processorsto perform operations comprising: detecting vibrations at an imagesensor of a camera; determining a vibration signal from the vibrations,wherein the vibration signal includes one or more of a horizontalcomponent and a vertical component; and sending the vibration signal toone or more actuators, wherein the actuators dampen the vibrations. 9.The computer-readable storage medium of claim 8, wherein the vibrationsignal is within a predetermined frequency range of vibration sensorsthat detect the vibrations.
 10. The computer-readable storage medium ofclaim 8, wherein the vibrations are high-frequency vibrations having afrequency that is above a predetermined frequency threshold.
 11. Thecomputer-readable storage medium of claim 8, wherein a reaction time ofvibration sensors that detect the vibrations is a known value.
 12. Thecomputer-readable storage medium of claim 8, wherein the instructionswhen executed are further operable to cause the one or more processorsto perform operations comprising inverting the vibration signal.
 13. Thecomputer-readable storage medium of claim 8, wherein the instructionswhen executed are further operable to cause the one or more processorsto perform operations comprising phase shifting the vibration signal.14. The computer-readable storage medium of claim 8, wherein theinstructions when executed are further operable to cause the one or moreprocessors to perform operations comprising adjusting a phase angle ofthe vibration signal based on a lag between when the vibrations weredetected and when the actuators are placed in motion.
 15. Acomputer-implemented method comprising: detecting vibrations at an imagesensor of a camera; determining a vibration signal from the vibrations,wherein the vibration signal includes one or more of a horizontalcomponent and a vertical component; and sending the vibration signal toone or more actuators, wherein the actuators dampen the vibrations. 16.The method of claim 15, wherein the vibration signal is within apredetermined frequency range of vibration sensors that detect thevibrations.
 17. The method of claim 15, wherein the vibrations arehigh-frequency vibrations having a frequency that is above apredetermined frequency threshold.
 18. The method of claim 15, wherein areaction time of vibration sensors that detect the vibrations is a knownvalue.
 19. The method of claim 15, further comprising inverting thevibration signal.
 20. The method of claim 15, further comprising phaseshifting the vibration signal.